pr2_kinematics.py File Reference

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Classes
class	PR2
	Contains properties and methods managing the kinematics of the PR2 robot. More...

Namespaces
	magiks.specific_geometries.pr2.pr2_kinematics

Variables
float	drc = math.pi/180.00
tuple	default_ql = drc*np.array([-130.0, 69.0 , -180.0, - 131.0, -180.0, -130.0, -180.0, 0.8/drc, -1000.0, -1000.0, -180.0, -40.0, 60.0, - 44.0, -131.0, -180.0, -130.0, -180.0])
tuple	default_qh = drc*np.array([ 30.0, 170.0, 44.0, - 8.5, 180.0, 0.00, 180.0, 1.14/drc, 1000.0, 1000.0, 180.0, 130.0, 170.0, 180.0, - 8.5, 180.0, 0.00, 180.0])
list	all_control_modes = ['Fixed-Base', 'Free-Base']